Automatic accurate positioning and experimental research of robot target based on optical navigator
Honghua Zhao, Chao Wang, Lei Gao, Baolu Cao, Xianming Song · 2022
With the continuous development of robot related technology, robots have the ability to replace people to complete tasks in various fields and scenes. In this context, the demand for acupuncture robots is increasing, and the positioning accuracy of acupuncture robots is also getting more and more attention. This paper uses chessboard calibration for hand eye registration of acupuncture robot, recognizes chessboard corner points through Python compiling algorithm and carries out accurate iterative optimization, finally uses Tasi two-step method to solve the transformation matrix, which is more accurate, and realizes registration of 3D image system and mechanical arm. The preliminary robot positioning accuracy experiment shows that the positioning accuracy of this method is within the allowable range.